EP3473152B1 - Appareil robotique, procédé et applications - Google Patents

Appareil robotique, procédé et applications Download PDF

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Publication number
EP3473152B1
EP3473152B1 EP18201013.2A EP18201013A EP3473152B1 EP 3473152 B1 EP3473152 B1 EP 3473152B1 EP 18201013 A EP18201013 A EP 18201013A EP 3473152 B1 EP3473152 B1 EP 3473152B1
Authority
EP
European Patent Office
Prior art keywords
motor
drive
wheel
vacuum cleaner
robotic vacuum
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18201013.2A
Other languages
German (de)
English (en)
Other versions
EP3473152B8 (fr
EP3473152A1 (fr
Inventor
David MORONITI
Steve SUPRON
Steven Whitehead
Micah Green
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tailos Inc
Original Assignee
Maidbot Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Maidbot Inc filed Critical Maidbot Inc
Publication of EP3473152A1 publication Critical patent/EP3473152A1/fr
Publication of EP3473152B1 publication Critical patent/EP3473152B1/fr
Application granted granted Critical
Publication of EP3473152B8 publication Critical patent/EP3473152B8/fr
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2831—Motor parameters, e.g. motor load or speed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/229—Command input data, e.g. waypoints
    • G05D1/2297—Command input data, e.g. waypoints positional data taught by the user, e.g. paths
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/245—Arrangements for determining position or orientation using dead reckoning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the present disclosure is directed generally to a robotic apparatus and associated methods and applications; more particularly to a robotic floor cleaning apparatus and associated methods and applications; most particularly to a robotic floor cleaning apparatus with holonomic drive and associated methods and applications.
  • WO 2016/116222 A1 describes a robotic vacuum cleaner having wheels with separate drive units such that each of the wheels may be driven by each of the drive units separately from the other wheels.
  • Cleaning patterns available to be executed with existing robotic floor cleaners are limited by their architecture, control, sensing and drive systems.
  • Commercial robotic vacuum cleaners such as the Dyson ® Eye, the Roomba ® , and many of Samsung's models use a nonholonomic drive system; i.e., the drives use two independently powered wheels and a caster to provide 3-point support for their robotic vacuum cleaners.
  • the two independently powered wheels can be used to move the robot body in a straight line, a curved line, or to spin; however, each of these drive systems are only able to move the robotic vacuum cleaner in a direction that is not perpendicular to the assigned (fixed) orientation of the robotic vacuum cleaner.
  • non-holonomic robots move, e.g., northerly and then easterly, the robot must drive north, spin 90 degrees to the right, and drive east or, alternatively; they could drive north, rotate 90 degrees to the right while moving forward through an arc, and then drive east.
  • the non-holonomic drive robotic vacuum cleaner began facing in one direction (e.g., north, south, east, west) and finished facing in a different direction, e.g., (east, west).
  • a robotic vacuum cleaner equipped with a holonomic drive can drive in a given direction, e.g., north (with its assigned orientation being north) and move in a different direction, e.g., east, north-east, or any direction) while maintaining its assigned orientation or that of any desired portion of the robot such as an intake, bank of sensors, or any other portion of the robot that is needed for a particular maneuver.
  • a given direction e.g., north (with its assigned orientation being north) and move in a different direction, e.g., east, north-east, or any direction
  • any desired portion of the robot such as an intake, bank of sensors, or any other portion of the robot that is needed for a particular maneuver.
  • the present disclosure is directed to a robotic vacuum cleaner equipped with a holonomic drive that can drive in a given direction, e.g., north (with its assigned orientation being north) and move in a different direction, e.g., east, north-east, or any direction) while maintaining its assigned orientation or that of any desired portion of the robot such as an intake, bank of sensors, or any other portion of the robot that is needed for a particular maneuver.
  • a given direction e.g., north (with its assigned orientation being north) and move in a different direction, e.g., east, north-east, or any direction
  • any desired portion of the robot such as an intake, bank of sensors, or any other portion of the robot that is needed for a particular maneuver.
  • a robotic vacuum cleaner or floor cleaner having enhanced cleaning and maneuvering capability enabled by an omni-directional and holonomic drive platform exhibiting decoupled rotational and translational degrees of freedom.
  • the advantages of being able to uniquely maneuver a robotic floor cleaner with holonomic drive can be exploited during spot cleaning, cleaning the edges of an area, putting sensors in places they are needed, navigating obstacles, and others that would be recognized by those skilled in the art to realize more efficient cleaning.
  • a robotic vacuum cleaner comprising: a main body having a front, top and bottom; a vacuum source positioned at the front of the main body; a plurality of sensor elements mounted to the main body; a plurality of wheel assemblies that collectively form a holonomic drive, each wheel assembly comprising: a motor; a drive wheel connected to the motor; an encoder; and a motor controller; and a main controller that receives odometry data from the motor controller in regard to the movement of the wheel, and data from the plurality of sensors, and provides electronic navigation control to the plurality of wheel assemblies.
  • each of the wheel assemblies further comprises a motor pod into which the motor fits.
  • each of the wheel assemblies further comprises a slotted motor hub that transmits torque to the drive wheel.
  • each of the wheel assemblies further comprises a snap clip that attaches the motor hub to the drive wheel.
  • each motor controller independently controls a respective one of the motors to operably form a holonomic drive.
  • the present disclosure describes a robotic vacuum cleaner, designated generally by reference numeral 10.
  • FIG. 1 in one embodiment, is a schematic bottom plan view of a holonomic drive platform of a robotic floor cleaner (i.e., the 'robot') 10 according to an illustrative embodiment of the invention.
  • the illustrated robot 10 includes four (4) omni wheel assemblies 12 each having an independent drive motor 14 for the drive wheels 16 and suspension 18 (details of the suspension 18 can be found in Applicant's provisional application serial number 62/574,255, filed October 19, 2017 , the entirety of which is hereby referred to).
  • Embodiments can be enabled with three (3) or four (4) wheel assemblies 12 so long as they are in a proper configuration as one skilled in the art would appreciate.
  • the wheel assemblies 12 are arranged such that the robot 10 is positionally stable and can be directed to move in any directions (straight and/or curvilinear) by varying the speed and direction of rotation of the drive wheels 16 in each wheel assembly 12.
  • driving all four wheel assemblies 12 in the same direction causes rotation of the robot 10. If the wheels 16 on one side turn one direction and the wheels 16 on the other side turn in the opposite direction, the robot 10 drives forward or backward.
  • Driving a pair of diagonally opposed wheel assemblies 12 in the one direction and the other pair of diagonally opposed wheel assemblies 12 in the opposite direction the robot 10 will move linearly sideways.
  • Various combinations of the wheel assembly 12 drive motions allows for robot motion in any direction with any rotation (including no rotation at all).
  • FIG. 2 illustrates the common N-pattern that is frequently used when vacuuming a floor using a conventional hand-operated vacuum cleaner or other floor cleaner.
  • the embodied robot 10 with a holonomic drive can cover the N-pattern, for example, while maintaining the orientation of the cleaning intake 18 ( Fig. 1 ). This pattern/orientation may be very useful for cleaning the edge regions of a floor bounded by a wall or border. Additionally, the amount of turning the robot 10 must do throughout the cleaning of a room is reduced, lowering the overall time to clean.
  • Each of the four wheel bracket assemblies 12 illustrated in Figs. 3 and 4 are of identical physical construction.
  • a DC gear motor 14 is mounted within a plastic molded motor pod 22 and secured with screws 24.
  • a motor controller PCBA 26 slides within the motor pod 22.
  • a harness (not shown) connects the motor 14 to the motor controller 26.
  • the motor bracket 28 is fixed to the motor pod 22 with three self-tapping screws 30.
  • the bracket 28 secures the motor controller 26.
  • An access hole 30 in the bracket 28 allows connection of a harness that connects to the main logic controller 31 of the robotic floor cleaner 10.
  • One side of the hinge 32 is secured to the bracket 28 and the other side of the hinge 34 is fixed to the robotic cleaner's base plate/suspension 18.
  • the motor pod 22 provides support for a suspension spring clip 36.
  • a drive hub 38 is pressed to the end of the motor 14. Additionally, a dowel pin 40 can further reinforce the coupling of the gear motor 14 to the drive hub 38 by pressing through the motor hub 38 and pressing into the motor shaft 42.
  • the motor hub 38 transmits torque to the drive wheel 16 through its slotted shape.
  • a pod ring 44 of special lubricated material may be used to support the wheel 16 and provide a low friction bearing surface.
  • Fig. 5 the robotic floor cleaner 10 is shown with wheels 16 fully installed.
  • the snap clips 36 ( Fig. 4 ) are used to secure the wheel 16 to the drive hub 38 in an easily removable manner.
  • Each robotic wheel 16 includes a reversible motor and encoder.
  • the encoder signal provides feedback to the motor's controller 26.
  • the motor controllers 26 communicate with the main controller 31 to provide odometry data on the movement of the wheel 16.
  • the odometry information coupled with feedback from a LIDAR 46 mounted atop robot 10 and other sensors 48 provide data to the main controller 31 advantageous for navigation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (5)

  1. Aspirateur robot (10), comprenant:
    a. un corps principal ayant une partie avant, une partie supérieure et une partie inférieure;
    b. une source d'aspiration placée à l'avant du corps principal;
    c. une pluralité d'éléments capteurs (46, 48) montés sur le corps principal, la pluralité d'éléments capteurs (46, 48) comprenant un LIDAR (46) monté au sommet de l'aspirateur robot (10) et d'autres capteurs (48);
    d. une première paire d'ensembles de roues diagonalement opposées (12) et une seconde paire d'ensembles de roues diagonalement opposées (12) qui forment collectivement un entraînement holonomique, de sorte que les roues sont orientées à 45 degrés par rapport à un axe longitudinal du robot nettoyeur et de sorte que les roues diagonalement opposées ont un axe colinéaire, chaque ensemble de roues (12) comprenant:
    i. un moteur (14);
    ii. une roue motrice (16) reliée au moteur (14);
    iii. un codeur;
    iv. et un contrôleur de moteur (26); et
    e. un contrôleur principal (31) qui reçoit des données odométriques du contrôleur de moteur (26) sur le mouvement de la roue (16), et des données d'une pluralité de capteurs (46, 48), et fournit un contrôle de navigation électronique aux ensembles de roues (12) sur la base des données odométriques reçues et des données provenant de la pluralité de capteurs (46, 48) ;
    f. dans lequel le robot aspirateur (10) est configuré de telle sorte qu'il peut se déplacer dans une direction donnée et se déplacer dans une direction différente, tout en maintenant une orientation assignée.
  2. Aspirateur robot (10) selon la revendication 1, dans lequel chacun desdits ensembles de roues (12) comprend en outre un support de moteur (22) dans lequel le moteur (14) s'adapte.
  3. Aspirateur robot (10) selon la revendication 2, dans lequel chacun desdits ensembles de roues (12) comprend en outre un moyeu de moteur fendu (38) qui transmet le couple à la roue motrice (16).
  4. Aspirateur robot (10) selon la revendication 3, dans lequel chacun desdits ensembles de roues (12) comprend en outre un clip (36) qui fixe le moyeu du moteur (38) à la roue motrice (16).
  5. Aspirateur robot (10) selon la revendication 1, dans lequel chaque contrôleur de moteur (26) commande indépendamment un moteur respectif des moteurs (14) pour former de manière opérationnelle un entraînement holonomique.
EP18201013.2A 2017-10-17 2018-10-17 Appareil robotique, procédé et applications Active EP3473152B8 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201762573355P 2017-10-17 2017-10-17
US201762574255P 2017-10-19 2017-10-19

Publications (3)

Publication Number Publication Date
EP3473152A1 EP3473152A1 (fr) 2019-04-24
EP3473152B1 true EP3473152B1 (fr) 2022-04-20
EP3473152B8 EP3473152B8 (fr) 2022-07-13

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US (2) US11058270B2 (fr)
EP (1) EP3473152B8 (fr)
JP (1) JP7233194B2 (fr)

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Also Published As

Publication number Publication date
US20190110652A1 (en) 2019-04-18
JP7233194B2 (ja) 2023-03-06
JP2019072493A (ja) 2019-05-16
US11058270B2 (en) 2021-07-13
EP3473152B8 (fr) 2022-07-13
US20210298547A1 (en) 2021-09-30
EP3473152A1 (fr) 2019-04-24
US12053139B2 (en) 2024-08-06

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